====== Grbl ======

===== Installation de GRBL ======
 Les binaires de grbl sont disponibles sur le [[https://github.com/grbl/grbl#downloads-right-click-and-save-link-as|github de grbl]]. Le version actuellement installée est la version de dev compilée au 25/01/2013

Exemple de commande pour [[https://github.com/grbl/grbl/wiki/Flashing-Grbl-to-an-Arduino|flasher/installer grbl sur l'arduino]] : 
<code>
avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -pm328p -carduino -P/dev/ttyACM0 -D -Uflash:w:grbl_v0_9a_edge_328p_16mhz_9600_build20130319.hex
</code>

===== Compilation de la version de dev de grbl ======
La version actuellement utilité est une compilation maison de la branche dev au 25/01/2013. Un profil ''DEFAULTS_CARRNUM'', contenant les paramètres par defaut, a été ajouté dans le fichier ''{{:machines:cnc:defaults.h.zip|default.h}}'' . Le fichier ''config.h'' a été modifié pour que ce profil ''DEFAULTS_CARRNUM'' soit utilisé lors du frashage de l'eeprom.

===== Config. GRBL =====
//Configuration de grbl v0.9a au 01/11/2013 //
<code>
>>> $$
<<< $0=64.000 (x, step/mm)
<<< $1=64.000 (y, step/mm)
<<< $2=200.000 (z, step/mm)
<<< $3=3000.000 (x v_max, mm/min)
<<< $4=3000.000 (y v_max, mm/min)
<<< $5=120.000 (z v_max, mm/min)
<<< $6=100.000 (x accel, mm/sec^2)
<<< $7=100.000 (y accel, mm/sec^2)
<<< $8=10.000 (z accel, mm/sec^2)
<<< $9=20 (step pulse, usec)
<<< $10=3000.000 (default feed, mm/min)
<<< $11=32 (step port invert mask, int:00100000)
<<< $12=25 (step idle delay, msec)
<<< $13=0.050 (junction deviation, mm)
<<< $14=0.005 (arc tolerance, mm)
<<< $15=3 (n-decimals, int)
<<< $16=0 (report inches, bool)
<<< $17=1 (auto start, bool)
<<< $18=0 (invert step enable, bool)
<<< $19=1 (hard limits, bool)
<<< $20=0 (homing cycle, bool)
<<< $21=0 (homing dir invert mask, int:00000000)
<<< $22=25.000 (homing feed, mm/min)
<<< $23=100.000 (homing seek, mm/min)
<<< $24=100 (homing debounce, msec)
<<< $25=1.000 (homing pull-off, mm)
<<< ok


</code>

Config de la version de dev (2013-01-25)
<code>
<<< $0=64.000 (x, step/mm)
<<< $1=64.000 (y, step/mm)
<<< $2=200.000 (z, step/mm)
<<< $3=3000.000 (x max rate, mm/min)
<<< $4=3000.000 (y max rate, mm/min)
<<< $5=120.000 (z max rate, mm/min)
<<< $6=100.000 (x accel, mm/sec^2)
<<< $7=100.000 (y accel, mm/sec^2)
<<< $8=10.000 (z accel, mm/sec^2)
<<< $9=200.000 (x max travel, mm)
<<< $10=200.000 (y max travel, mm)
<<< $11=200.000 (z max travel, mm)
<<< $12=10 (step pulse, usec)
<<< $13=3000.000 (default feed, mm/min)
<<< $14=0 (step port invert mask:00000000)
<<< $15=192 (dir port invert mask:11000000)
<<< $16=255 (step idle delay, msec)
<<< $17=0.020 (junction deviation, mm)
<<< $18=0.002 (arc tolerance, mm)
<<< $19=3 (n-decimals, int)
<<< $20=0 (report inches, bool)
<<< $21=1 (auto start, bool)
<<< $22=0 (invert step enable, bool)
<<< $23=0 (invert limit pins, bool)
<<< $24=0 (soft limits, bool)
<<< $25=1 (hard limits, bool)
<<< $26=1 (homing cycle, bool)
<<< $27=96 (homing dir invert mask:01100000)
<<< $28=25.000 (homing feed, mm/min)
<<< $29=3000.000 (homing seek, mm/min)
<<< $30=250 (homing debounce, msec)
<<< $31=1.000 (homing pull-off, mm)
</code>

[[https://github.com/grbl/grbl/wiki|Grbl]] v0.8c (installé le 21/11/2012):


  * $0=64.000 (x, step/mm)
  * $1=64.000 (y, step/mm)
  * $2=200.000 (z, step/mm)
  * $3=20 (step pulse, usec)
  * $4=500.000 (default feed, mm/min)
  * $5=6000.000 (default seek, mm/min)
  * $6=32 (step port invert mask, int:00100000)
  * $7=25 (step idle delay, msec)
  * $8=100.000 (acceleration, mm/sec^2)
  * $9=0.050 (junction deviation, mm)
  * $10=0.100 (arc, mm/segment)
  * $11=25 (n-arc correction, int)
  * $12=3 (n-decimals, int)
  * $13=0 (report inches, bool)
  * $14=1 (auto start, bool)
  * $15=0 (invert step enable, bool)
  * $16=0 (hard limits, bool)
  * $17=0 (homing cycle, bool)
  * $18=0 (homing dir invert mask, int:00000000)
  * $19=25.000 (homing feed, mm/min)
  * $20=250.000 (homing seek, mm/min)
  * $21=100 (homing debounce, msec)
  * $22=1.000 (homing pull-off, mm)

<note tip>Exemple de commande (à personaliser) pour uploader grbl sur un arduino : ''sudo /opt/arduino-1.0.1/hardware/tools/avrdude -C/opt/arduino-1.0.1/hardware/tools/avrdude.conf -v -v -v -v  -patmega328p -carduino -P/dev/ttyACM0  -b115200 -D -Uflash:w:grbl_v0_8c_atmega328p_16mhz_9600.hex''</note>


config prise le 19/12/2014 avec  le grbl 0.9? présent sur la carte arduino
<code>
$0=64.000 (x, step/mm)
$1=64.000 (y, step/mm)
$2=200.000 (z, step/mm)
$3=3000.000 (x max rate, mm/min)
$4=3000.000 (y max rate, mm/min)
$5=120.000 (z max rate, mm/min)
$6=100.000 (x accel, mm/sec^2)
$7=100.000 (y accel, mm/sec^2)
$8=10.000 (z accel, mm/sec^2)
$9=318.000 (x max travel, mm)
$10=263.000 (y max travel, mm)
$11=63.000 (z max travel, mm)
$12=10 (step pulse, usec)
$13=3000.000 (default feed, mm/min)
$14=0 (step port invert mask:00000000)
$15=192 (dir port invert mask:11000000)
$16=255 (step idle delay, msec)
$17=0.020 (junction deviation, mm)
$18=0.002 (arc tolerance, mm)
$19=3 (n-decimals, int)
$20=0 (report inches, bool)
$21=1 (auto start, bool)
$22=0 (invert step enable, bool)
$23=0 (invert limit pins, bool)
$24=0 (soft limits, bool)
$25=1 (hard limits, bool)
$26=1 (homing cycle, bool)
$27=96 (homing dir invert mask:01100000)
$28=25.000 (homing feed, mm/min)
$29=3000.000 (homing seek, mm/min)
$30=250 (homing debounce, msec)
$31=1.000 (homing pull-off, mm)
</code>